CN114211970B - Energy recovery method, energy recovery equipment, vehicle and storage medium - Google Patents
Energy recovery method, energy recovery equipment, vehicle and storage medium Download PDFInfo
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- CN114211970B CN114211970B CN202111555168.5A CN202111555168A CN114211970B CN 114211970 B CN114211970 B CN 114211970B CN 202111555168 A CN202111555168 A CN 202111555168A CN 114211970 B CN114211970 B CN 114211970B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Hybrid Electric Vehicles (AREA)
Abstract
The embodiment of the application discloses an energy recovery method, energy recovery equipment, a vehicle and a storage medium. The energy recovery method comprises the steps of activating an energy recovery self-adaptive system with a preset recovery level when a vehicle is in a downhill working condition, adjusting the recovery level of the energy recovery self-adaptive system according to energy consumed by a brake system of the vehicle and energy added by a power system, closing the energy recovery self-adaptive system when the vehicle is separated from the downhill working condition, and storing the adjusted recovery level.
Description
Technical Field
The embodiment of the application relates to the technical field of electric automobiles, in particular to an energy recovery method, energy recovery equipment, an energy recovery vehicle and an energy storage medium.
Background
With the increasing popularity of electric vehicles in cities, the problems of energy conservation and endurance of the electric vehicles become a main problem for limiting the electric vehicles to replace fuel vehicles in long-distance scenes. In order to save energy and reduce emission, the energy consumption of the electric automobile is required to be reduced, and the endurance mileage of the electric automobile is improved. In view of this problem, most of the conventional electric vehicles are provided with an energy recovery adaptive system that recovers energy lost during braking and recycles the energy when the electric vehicle accelerates or climbs a slope, thereby effectively improving the cruising ability of the electric vehicle.
However, the driver is not well-recognized for the existing energy recovery system, especially under the downhill working condition, after the driver manually adjusts the energy recovery level, the problem that the vehicle speed is too fast when one level is lowered is often caused by that the level is slowly raised, and in the face of the situation, most of the existing technical modes are to increase the adjustable number of the recovery level of the energy recovery system, and more gears are opened for the user to select, so that the user has more complicated adjustment of the recovery level.
Disclosure of Invention
The embodiment of the application provides an energy recovery method, energy recovery equipment, a vehicle and a storage medium, so as to solve the problem that the existing vehicle energy recovery level is not matched with the driving habit of a driver.
In a first aspect, the present application provides an energy recovery method that may be performed by a vehicle or a component (e.g., a chip) on the vehicle, the method may include: determining that the vehicle is in a downhill working condition; when a ramp where a vehicle is located in a target gradient interval, a first energy recovery grade corresponding to the target gradient interval is called for energy recovery; the first energy recovery level is determined based on historical energy change data for the vehicle while in the target grade interval.
The setting value of the energy recovery level is determined by using the historical energy change data, the ramp degree is divided into a plurality of sections, the historical data collected in the sections are matched for different sections, and then the energy recovery level set by the vehicle with the downhill working condition in the section is obtained, so that the energy recovery level called by the vehicle accords with the driving habit of the driver, and the driving experience of the driver is improved.
Optionally, determining that the vehicle is in a downhill condition includes at least one of:
the ramp angle of the lane where the vehicle is located meets the standard of the downhill lane, and the duration of the vehicle in the downhill lane is greater than a first preset threshold;
the vehicle speed is greater than a second preset threshold.
Through setting up first default threshold, reduced under the interval frequent change of slope, energy recuperation grade also leads to driving experience poor problem along with frequent change, through setting up the second default threshold, avoid the vehicle under traffic jam or waiting the red light scene, the energy recuperation grade changes suddenly after the vehicle starts and causes driving experience poor problem, promoted driver's driving experience.
Optionally, the first energy recovery level is determined according to the collected energy consumed by the braking system of the vehicle and the power system increased energy when the vehicle is in the target grade interval during the historical driving.
The energy recovery level is adjusted through the energy consumed by the vehicle braking system and the energy added by the power system, the problems that the operation is complex, the sight is required to be transferred and the hand leaves the steering wheel due to the fact that the energy recovery level is adjusted through the physical keys or the virtual keys are effectively avoided, the driving safety of a driver when the driver enters a downhill working condition is guaranteed, the energy recovery level is adjusted according to the energy consumed by the vehicle braking system and the energy added by the power system, driving intuitiveness is more met, and driving experience is improved.
Optionally, the first energy recovery level is determined according to the energy consumed by the braking system of the vehicle and the energy added by the power system when the vehicle is in the target gradient interval last time;
or the first energy recovery level is determined according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when at least one of the first N times of the vehicle is in the target gradient interval.
Optionally, the first energy recovery level is determined from at least one of the first energy adjustment value and the second energy adjustment value;
the first energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, the sliding moment of the vehicle and a braking factor of the vehicle;
The second energy adjustment value is determined according to a first moment generated by a slope on which the vehicle is located, a second moment generated by the speed of the vehicle, a power moment of the vehicle and a power factor of the vehicle.
Optionally, the first energy adjustment value satisfies:
wherein DeltaT 1 To a heightened value, k 1 For the energy coefficient consumed by the braking system, the higher the energy consumed by the braking system is, the larger the energy coefficient is, mg is the gravity of the whole vehicle, θ is the degree of the ramp, R Radius of dynamic load Is the dynamic load radius of the vehicle, v is the current vehicle speed, A, B and C are the coefficients of the sliding resistance curve of the vehicle, T Sliding Is the coasting torque.
Optionally, the second energy adjustment value satisfies:
wherein DeltaT 2 To adjust down the value, k 2 The energy coefficient added for the power system is that the more the power system is added, the larger the energy coefficient is, mg is the gravity of the whole vehicle, theta is the degree of the ramp, R Radius of dynamic load The dynamic load radius of the vehicle is v, the current vehicle speed is v, A, B and C are coefficients of the sliding resistance curve of the vehicle, and a is the current acceleration.
In a second aspect, the present application also provides an energy recovery method, comprising: when the vehicle is in a downhill working condition, determining a target gradient section of a ramp where the vehicle is located, and monitoring energy change data of the vehicle in the target gradient section; determining a first energy recovery level corresponding to the target gradient interval according to the energy change data in the target gradient interval; and the first energy recovery level is used for recovering energy according to the first energy recovery level when the vehicle is driven into the ramp corresponding to the target gradient interval.
Optionally, the vehicle is in a downhill condition, including at least one of:
the ramp angle of the lane where the vehicle is located meets the standard of the downhill lane, and the duration of the vehicle in the downhill lane is greater than a first preset threshold;
the vehicle speed is greater than a second preset threshold.
Optionally, the first energy recovery level is determined according to the collected energy consumed by the braking system and the power system of the vehicle when the vehicle is in the target gradient interval during the historical driving process.
Optionally, determining a first energy recovery level according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when the vehicle is in the target gradient interval last time;
or determining the first energy recovery level according to the collected energy consumed by the braking system and the increased energy of the power system of the vehicle when at least one of the first N times of the vehicle is in the target gradient interval.
Optionally, the method further comprises:
updating the energy recovery level of the target gradient interval stored by the vehicle according to the first energy recovery level;
or, the first energy recovery level is stored as a historical energy recovery level corresponding to the target gradient section, and the energy recovery level corresponding to the target gradient section is determined according to the historical energy recovery level corresponding to the target gradient section.
Optionally, determining the first energy recovery level corresponding to the target grade interval according to the energy change data in the target grade interval includes:
determining a first energy recovery level according to at least one of the first energy adjustment value and the second energy adjustment value;
the first energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, the sliding moment of the vehicle and a braking factor of the vehicle;
the second energy adjustment value is determined according to a first moment generated by a slope on which the vehicle is located, a second moment generated by the speed of the vehicle, a power moment of the vehicle and a power factor of the vehicle.
In a third aspect, the present application also proposes an energy recovery device comprising: the energy recovery system comprises a memory, a processor and an energy recovery program stored on the memory and capable of running on the processor, wherein the energy recovery program is executed by the processor to realize the energy recovery method.
In a fourth aspect, the present application also proposes a vehicle comprising an energy recovery device as described above, or applied to an energy recovery method as described above.
In a fifth aspect, the present application further proposes a readable storage medium, on which an energy recovery program is stored, which when executed by a processor implements the energy recovery method as above.
In a sixth aspect, the present application also proposes a computer program product having a computer readable storage medium storing an energy recovery program as above for executing all the steps of the energy recovery method described above, when the program is executed on a computer or a digital signal processor.
In a seventh aspect, the present embodiment also proposes a recovery system for a vehicle, the recovery system for a vehicle including:
the downhill working condition calculating unit is used for determining that the vehicle is in a downhill working condition;
the system comprises a recovery grade calculation unit, a first energy recovery grade calculation unit and a second energy recovery grade calculation unit, wherein the recovery grade calculation unit is used for calling a first energy recovery grade corresponding to a target gradient interval to perform energy recovery when a ramp where a vehicle is located in the target gradient interval; the first energy recovery level is determined from historical energy change data for the vehicle while in the target grade interval.
According to the method and the device, when the vehicle is in a downhill working condition, the corresponding energy recovery level is obtained according to the historical energy change data of the gradient section where the ramp where the vehicle is located, so that the more the ramp where the driver runs, the more the historical energy change data, the more the obtained energy recovery level is in accordance with the driving habit of the driver, the frequency of stepping on the brake and the accelerator by the driver is reduced, the driving experience is improved, the problem that the driver frequently steps on the brake and the accelerator due to mismatching of the recovery level and the driving habit of the energy recovery in the prior art is solved, the energy recovery efficiency is improved, the adjustable quantity of the energy recovery level is not increased, and the problem that the operation is complicated when the energy recovery level matched with the driving habit of the driver is adjusted is avoided.
Drawings
Fig. 1 is a schematic flow chart of an energy recovery method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of an energy recovery method according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of an energy recovery method according to an embodiment of the present disclosure;
FIG. 4 is a schematic flow chart of an energy recovery method according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of the relationship between wheel end torque and vehicle speed provided in an embodiment of the present application;
FIG. 6 is a schematic diagram of the relationship between driving torque and vehicle speed according to the embodiment of the present application;
FIG. 7 is a schematic diagram of an energy recovery device architecture of a hardware operating environment according to an embodiment of the present application;
fig. 8 is a schematic diagram of functional modules of an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples.
Referring to fig. 1, an embodiment of an energy recovery method of the present application is presented, and the steps of the energy recovery system for executing the energy recovery method specifically include:
s100, determining that the vehicle is in a downhill working condition;
the vehicle can monitor the condition of the vehicle in a downhill through various modes, and one possible implementation mode is to acquire whether the vehicle is in an uphill state, a downhill state or a level road through an electronic level meter, and also can acquire the gradient of the downhill through the electronic level meter; the up-down slope detection equipment and the corresponding detection method applied to the vehicle are more complex; in this embodiment, the energy recovery strategy mainly emphasizes a coasting recovery function, which is mainly applied to energy recovery under downhill conditions, for example, energy recovery may participate in braking of a vehicle in the first half of non-sudden braking and in the deceleration stage, and the energy recovery level described in this application refers to coasting energy recovery after activating the energy recovery strategy under downhill conditions.
S110, when a ramp where a vehicle is located in a target gradient interval, calling a first energy recovery grade corresponding to the target gradient interval to recover energy; the first energy recovery level is determined from historical energy change data for the vehicle while in the target grade interval.
In one possible implementation manner, the vehicle body controller may be factory-set with different energy recovery levels according to different gradient intervals, so that the vehicle body controller of the embodiment obtains a target gradient interval in which the measured gradient is located according to the measured gradient of the vehicle downhill, and then obtains the energy recovery level set in the target gradient interval to perform energy recovery; the energy recovery level set in the target gradient interval is determined according to the energy recovery level adopted when the driver drives through the same gradient interval, for example, the gradient from-3 degrees to-4 degrees is set to be the same gradient interval, the measured gradient of the downhill working condition is-3.8 degrees, and the energy recovery level used when the vehicle drives through the downhill working condition of-3.5 degrees before driving can be used for setting the energy recovery level of the time. For convenience of description, in the embodiment of the present application, the description is made with the gradient of the ascending slope being positive and the gradient of the descending slope being negative, and in the specific implementation, other modes may also be set, which will not be described herein. In general, when the number of samples of the historical energy change is smaller, the weight of the energy recovery level of the last time is higher, and when the number of samples is increased, the more stable the energy change data is, the higher the weight of the energy recovery level is, and when the number of samples overflows, the outliers can be removed, and then the average value or the median is selected as the energy recovery level of the downhill section.
According to the method, the set value of the energy recovery level is determined by using the historical energy change data, the ramp degree is divided into a plurality of sections, the historical data collected in the section are matched for different sections, and then the energy recovery level set by the vehicle with the downhill working condition in the section is obtained, so that the energy recovery level called by the vehicle accords with the driving habit of a driver, the adjustment of the energy recovery level of the vehicle is reduced, the energy consumption caused by unnecessary braking and acceleration is reduced, and the recovery efficiency of the vehicle energy recovery is improved.
Referring to fig. 2, fig. 2 is a step of determining whether the vehicle is in a downhill condition according to the energy recovery method of the present application, where the determining that the vehicle is in the downhill condition includes at least one of the following:
s220, enabling the ramp angle of the lane where the vehicle is located to meet the standard of a downhill lane, and enabling the duration of the vehicle in the downhill lane to be larger than a first preset threshold;
for example, when the vehicle travels on a downhill road for more than 2 minutes, the length of the hill is considered to meet the length threshold of the downhill condition, the downhill road section with a shorter length is excluded for the main purpose, the frequent energy recovery switching strategy is easy to reduce the recovery efficiency of energy recovery, and a large amount of historical energy change data with lower referential is easy to generate, so that the accuracy of the first energy recovery level is reduced.
In the present embodiment, the lane types may satisfy: ascending a slope: the ramp angle is more than 3 degrees; level road: the ramp angle is less than or equal to 3 degrees and less than or equal to 3 degrees; downhill slope: the ramp angle is less than or equal to 7 degrees and less than or equal to-3 degrees; downhill slope: the ramp angle is < -10 deg..
It should be noted that the angle ranges of the downhill slope and the downhill slope may be discontinuous, and the energy recovery may be performed in other ways when the angle of the slope is less than or equal to-10 ° and less than or equal to-7 °, and the present invention is not limited thereto.
In another possible implementation, the type of lane may satisfy: ascending a slope: the ramp angle is more than 3 degrees; level road: the ramp angle is less than or equal to 3 degrees and less than or equal to 3 degrees; downhill slope: the ramp angle is less than or equal to 7 degrees and less than or equal to-3 degrees; downhill slope: the ramp angle is < -7 deg..
In another possible implementation, the lane types may satisfy: ascending a slope: the ramp angle is more than 3 degrees; level road: the ramp angle is less than or equal to 3 degrees and less than or equal to 3 degrees; downhill slope: the ramp angle is less than or equal to-10 degrees and less than or equal to-3 degrees; downhill slope: the ramp angle is < -10 deg..
S230, the speed of the vehicle is greater than a second preset threshold.
For example, the second preset threshold value may be 20 km/h, and by setting the minimum vehicle speed, the driving scene of the vehicle speed above 20 km/h can be further optimized, and when the vehicle speed is less than or equal to 20 km/h, the vehicle may be in traffic jam or waiting for traffic light, under this scene, the driver needs to have stronger control on the vehicle, the vehicle has frequent start-stop or slow driving, and the intervention of energy recovery can reduce the driving experience of the driver to a certain extent.
The energy recovery strategy for short downhill grades is: the partial travel of the brake is set as energy recovery, not a friction brake pad, and the energy recovery device has higher energy recovery efficiency when slow deceleration is needed, so that the judgment process can be increased when the vehicle enters a downhill working condition, and under the downhill working condition, the optimal scheme is that a driver does not step on the brake and the accelerator, and the vehicle speed is stabilized within the acceptable range of the driving habit of the driver under the downhill working condition by the energy recovery.
The energy recovery method specifically comprises the following steps:
s200, determining that the vehicle is in a downhill working condition;
the function and beneficial effects of step S200 can be referred to as step S100, and are not described herein.
S210, when a ramp where a vehicle is located in a target gradient interval, calling a first energy recovery grade corresponding to the target gradient interval to recover energy; the first energy recovery level is determined from historical energy change data for the vehicle while in the target grade interval.
The function and beneficial effects of step S210 can be referred to as step S110, and are not described herein.
According to the method for judging the condition that the vehicle enters the downhill working condition, the technical scheme is perfected, the condition that the vehicle switches the energy recovery strategy in a short-distance ramp is reduced, the overall recovery efficiency of energy recovery is improved to a certain extent, meanwhile, the problem that the driving experience is poor due to the fact that the energy recovery level is changed suddenly after the vehicle starts under the condition that traffic jam or the like is avoided by setting the minimum vehicle speed under the condition that the gradient interval is changed frequently is reduced by setting the time for entering the target gradient interval to be 2 minutes, and the driving experience of a driver is improved.
Referring to fig. 3, the steps of the energy recovery method specifically include:
s300, determining that the vehicle is in a downhill working condition;
the function and beneficial effects of step S300 can be referred to as step S100, and are not described herein.
S310, when a ramp where a vehicle is located in a target gradient interval, calling a first energy recovery grade corresponding to the target gradient interval to recover energy; the first energy recovery level is determined from historical energy change data for the vehicle while in the target grade interval.
The function and beneficial effects of step S310 can be referred to as step S110, and are not described herein.
And S320, determining the first energy recovery level according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when the vehicle is in the target gradient interval in the historical driving process.
It should be noted that, in this embodiment, when the energy is consumed by the braking system, it is determined that the driver wants to reduce the running speed of the vehicle, then the recovery level may be adjusted to be higher at this time, so that the vehicle speed may be reduced, and the energy recovery efficiency may be increased.
S330, determining the first energy recovery level according to the energy consumed by a braking system of the vehicle and the energy added by a power system when the vehicle is in a target gradient interval last time;
or the first energy recovery level is determined according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when at least one of the first N times of the vehicle is in the target gradient interval.
Considering that different drivers have different requirements on the energy recovery level of the vehicle when facing the long downhill slope of the same slope interval, however, the driver is required to manually adjust the energy recovery level of the vehicle when entering the downhill slope working condition, a control button is required to be added or a virtual key is used, the control button is added, the operation logic of the vehicle becomes more complex, the virtual key usually needs to be separated from a steering wheel by one hand, and the line of sight is seen to a screen, and the operation has a certain risk under the condition that the downhill slope working condition and the vehicle speed do not accord with the driving habit of the driver.
The data obtained when the vehicle is in the target gradient interval last time or the data of the energy consumed by the vehicle braking system and the energy added by the power system acquired when at least one of the previous N times is in the target gradient interval are adopted, the data obtained according to the number of N and the energy consumed by the vehicle braking system and the energy added by the power system last time are used, and when all vehicles leave the factory, an initial energy recovery level is set according to all the set gradient intervals to serve as an initial value for entering the corresponding gradient interval for the first time.
For example, when the vehicle enters the target gradient interval for the first time, the energy recovery level calls the value set at the factory, then the initial value is adjusted according to the energy consumed by the braking system of the vehicle and the energy added by the power system to obtain a value relatively conforming to the recovery level of the driving habit of the vehicle, when the vehicle enters the target gradient interval for the second time, the value generated for the first time is called, then the value more conforming to the recovery level of the driving habit of the driver is generated according to the energy consumed by the braking system of the vehicle for the second time and the energy added by the power system for the second time, similarly, the value of the second time is called for the third time, the last value is called for the last 5 times in general, and when the total amount of accumulated data exceeds the set threshold value, the value is 5 in the example, the newly generated value is not necessarily better than the previous value, at this time, the weight of each value is judged according to the energy consumed by the vehicle braking system and the energy added by the power system corresponding to each value, the weight of the value generated by the vehicle braking system with the minimum energy consumed by the power system and the minimum energy added by the power system is larger, the total amount of data rises again and reaches the upper limit of the reference number, which is 20 in the example, the upper limit is set according to the calculation performance and the reading speed, when the number of samples is greater than 20, the latest 20 groups of data are selected, outliers in the data are removed, and the median or average value in the data is selected as the value called by the energy recovery level according to the weight proportion.
According to the method for taking the value of the energy recovery level, the energy recovery level is adjusted through the energy consumed by the vehicle braking system and the energy added by the power system, the problems that the operation is complex, the sight is required to be transferred and the hand leaves the steering wheel due to the fact that the energy recovery level is adjusted through the physical keys or the virtual keys are effectively avoided, the driving safety of a driver in the downhill working condition is guaranteed, the energy recovery level is adjusted according to the energy consumed by the vehicle braking system and the energy added by the power system, driving intuitiveness is better met, and driving experience is improved.
Specifically, the first energy recovery level is determined from at least one of a first energy adjustment value and a second energy adjustment value;
the first energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, the sliding moment of the vehicle and a braking factor of the vehicle;
in some embodiments, the first energy adjustment value is related to the energy consumed by the braking system, is related to the energy increased by the power system, in downhill working condition, the energy consumed by the braking of the vehicle is related to the parameters, under different ramp and vehicle speed conditions, the values of the parameters are greatly different due to different gradients, for example, in the long-slope to the mid-plateau of the plateau, the western plateau of China has a long slope of tens kilometers, the gradient of the downhill slope is less than-10 degrees, the vehicle judges that the vehicle is in the downhill working condition, and according to the gradient, the vehicle is in the downhill working condition, if no history data exists, the corresponding initial value is called for energy recovery according to the gradient interval where the measured gradient exists, the driver can adjust the vehicle speed of the vehicle by using the braking and the accelerator, the energy recovery system can also adjust the energy recovery level according to the first moment generated by the ramp where the vehicle is located, the second moment generated by the speed of the vehicle, the sliding moment of the vehicle and the braking factor of the vehicle, because the adjustment of the recovery level long enough for the distance of the ramp can be adjusted in real time, when the driver does not step on the brake and the accelerator any more and is completely dependent on the energy recovery system to control the speed of the downhill, although the secondary ramp is not finished, the obtained recovery level has higher availability, the energy recovery level is adjusted in the first half of the lane than in the second half during the driving process of the secondary ramp, the energy recovery level accords with the total amount of energy consumed by the braking system of the vehicle and the energy added by the power system after driving habit, the value generated by the secondary entry into the target gradient interval, especially the value of the energy consumed by the braking system of the vehicle and the energy added by the power system are all smaller, because the adjustment of the high-altitude ramp is experienced, the whole adjustment time is longer, the long-time downhill working condition influences the downhill working condition of shorter distance of factors, the value of the recovery grade is higher than the accuracy of the short-distance downhill working condition, therefore, a plurality of values can be generated according to the downhill working condition by setting a single time record upper limit mode, for example, the time upper limit or the distance upper limit is set, the vehicle is recorded as the next entering target gradient interval when running for more than 20 minutes, or the vehicle is recorded as the next entering target gradient interval when running for more than 10 kilometers, so that the long-distance ramp on the plateau generates a plurality of recovery grades, the use times of recovery grade data obtained by the long-distance ramp on the plateau are improved, and the matching degree of the recovery grade and the driving habit of a driver is improved to a certain extent.
The second energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, a power moment of the vehicle and a power factor of the vehicle.
It is easy to understand that the parameters such as the first moment generated by the ramp where the vehicle is located, the second moment generated by the speed of the vehicle, the power moment of the vehicle, the power factor of the vehicle and the like are strongly related to the increased energy of the power system of the vehicle, and the judgment logic is similar to that of the energy consumed by the brake system and will not be described in detail herein.
Specifically, the first energy adjustment value satisfies:
wherein the DeltaT 1 To a heightened value, k 1 For the energy coefficient consumed by the braking system, the higher the energy consumed by the braking system is, the larger the energy coefficient is, mg is the gravity of the whole vehicle, θ is the degree of the ramp, R Radius of dynamic load Is the dynamic load radius of the vehicle, v is the current vehicle speed, A, B and C are the coefficients of the sliding resistance curve of the vehicle, T Sliding Is the coasting torque.
It should be noted that, the first moment generated by the vehicle on the ramp can be obtained by the gravity of the whole vehicle, the radius of the dynamic load and the degree of the ramp, the second moment generated by the speed of the vehicle can be obtained by the weight of the vehicle and the current speed of the vehicle, the sliding moment of the vehicle can be obtained by the coefficient of the sliding resistance curve of the vehicle in combination with the above parameters, and the braking factor of the vehicle can be obtained by the energy coefficient consumed by the braking system.
It should be noted that, the coefficient of the dynamic load radius of the vehicle and the coefficient of the sliding resistance curve of the vehicle need to be set according to the model and the experimental data, and the vehicle of each model can obtain the related data after design and manufacture, so as to obtain the coefficient of the dynamic load radius and the sliding resistance curve when the vehicle runs on the road; referring to FIG. 4, a wheel end torque value can be obtained by inquiring a relation chart of wheel end torque and vehicle speed commonly used in the art according to brake pressure and vehicle speed, and finally the value is adjusted, so that the wheel end torque value and DeltaT are needed to be combined 1 The heightened value is compared, a smaller value is taken, and the aim is that the safety of energy recovery level setting is further ensured by using a relation diagram of wheel end torque and vehicle speed, and a larger value is taken by comparing the smaller value with a set minimum added value, so that the cost of hardware meeting adjustment requirements is effectively reduced, a large amount of imperceptible fine adjustment is also reduced, and the problem of recovery efficiency reduction caused by frequent adjustment of an energy recovery system is avoided; and finally, taking the obtained result as a final adjusted value.
In some embodiments, the energy coefficient k consumed by the braking system 1 The energy system consumed by the brake system can also be obtained according to the heating condition of the brake pad, namely the temperature change However, since the energy recovery adaptive system is connected in the previous stage of braking, the brake pad does not start to work at the moment, in order to reduce the frequency of the driver stepping on the brake, the embodiment adopts a mode of obtaining the brake energy according to the brake pressure and the brake time, and the energy which the driver wants to consume can be calculated in the kinetic energy recovery stage, so that the obtained recovery level is more accurate to adjust, and the driving experience of the driver is further improved.
In one possible implementation, the second energy adjustment value satisfies:
wherein the DeltaT 2 To adjust down the value, k 2 The energy coefficient added for the power system is that the more the power system is added, the larger the energy coefficient is, mg is the gravity of the whole vehicle, theta is the degree of the ramp, R Radius of dynamic load The dynamic load radius of the vehicle is v, the current vehicle speed is v, A, B and C are coefficients of the sliding resistance curve of the vehicle, and a is the current acceleration.
The first moment generated by the vehicle on the ramp can be obtained by the gravity of the whole vehicle, the radius of dynamic load and the degree of the ramp, the second moment generated by the speed of the vehicle can be obtained by the weight of the vehicle and the current speed of the vehicle, the coefficient of the sliding resistance curve of the dynamic moment of the vehicle and the current acceleration are obtained by combining the parameters, and the dynamic factor of the vehicle can be obtained by the energy coefficient increased by the dynamic system.
Referring to fig. 5, the method for calculating the energy reduction recovery level according to the power system disclosed in the present embodiment obtains the reduced value Δt obtained by the above calculation method 2 The required value T is obtained by inquiring the driving torque and the vehicle speed according to the opening degree of the accelerator and the vehicle speed map Driving of The comparison is carried out to enlarge the adjustment range to prevent the adjustment range from exceeding the safety limit, and the final value is taken as the torque reduction value after the adjustment range is reduced with the maximum reduction value, because the recovery grade has the lowest value, the difference between the lowest value and the current value is the maximum reduction value, and the adjustment range is effective by setting the maximum reduction valueThe cost of hardware meeting adjustment requirements is reduced, a large number of imperceptible fine adjustments are also reduced, and the problem of reduced recovery efficiency caused by frequent adjustment of an energy recovery system is avoided.
According to the embodiment, the technical scheme is further perfected by disclosing a specific method for adjusting the recovery level according to the energy consumed by the brake system and the energy added by the power system, the recovery level is adjusted by disclosing relevant parameters and a calculation formula through an objective and scientific method, the energy recovery level can be adjusted by stepping on the brake and the accelerator without manual intervention and adjustment, driving intuition is met, self-adaptive adjustment of the recovery level is realized without increasing the learning cost, and the recovery level of the energy recovery is enabled to conform to the driving habit of a driver without increasing keys or virtual keys and without the driving adjustment of the driver, so that driving experience is improved.
Referring to fig. 6, a method for recovering energy according to the present embodiment includes:
s600, when the vehicle is in a downhill working condition, determining a target gradient section of a ramp where the vehicle is located, and monitoring energy change data of the vehicle in the target gradient section;
s610, determining a first energy recovery level corresponding to the target gradient interval according to the energy change data in the target gradient interval; and the first energy recovery grade is used for carrying out energy recovery according to the first energy recovery grade when the vehicle drives into the ramp corresponding to the target gradient interval.
In addition to the above example, the adjustment of the energy recovery level may be determined according to the energy consumed by the braking system and the energy added by the power system during the previous gradient interval, and the adjustment result may be used as the first energy recovery level according to the energy change data during the driving process, for example, when the vehicle is driving into a long ramp with a larger gradient change, after the gradient change, there may be a situation of entering another gradient interval, at this time, the energy recovery may be performed by reading the recovery level corresponding to another gradient interval, or the recovery level may be adjusted according to the difference value of the initial values of the different gradient intervals, and no matter what scheme is adopted, the situation that the recovery level of the vehicle does not meet the expectations of the driver may occur, at this time, after the driver steps on the brake or the accelerator, the energy change condition of the vehicle in the target gradient interval is monitored, the energy recovery level is adjusted in real time according to the energy change condition, and fed back to the driver in real time, thereby satisfying the driving control feeling, and simultaneously, the real-time response can more effectively reduce the unnecessary energy recovery level of the vehicle in the gradient interval and the energy recovery system in the gradient interval.
A possible implementation manner, the vehicle is in a downhill working condition, including at least one of the following:
the ramp angle of the lane where the vehicle is located meets the standard of a downhill lane, and the duration time of the vehicle in the downhill lane is larger than a first preset threshold value;
the foregoing manner of the first preset threshold and the usage scenario may refer to step S220, and are not described herein.
The speed of the vehicle is greater than a second preset threshold.
The method for selecting the second preset threshold and the usage scenario can refer to step S230, and are not described herein.
Specifically, the determining, according to the energy change data in the target gradient interval, a first energy recovery level corresponding to the target gradient interval includes:
and determining the first energy recovery level according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when the vehicle is in the target gradient interval in the historical driving process.
In the non-real-time scenario, the confirmation method and the usage scenario of the first energy recovery level may refer to step S110, which is not described herein, but for the scheme of determining the energy recovery level in real time according to the energy consumed by the braking system of the vehicle and the energy added by the power system, when there are multiple gradient sections in the same downhill working condition, the adjustment of the energy recovery level is smoother, in order to ensure the driving experience of the driver, generally, in the same downhill working condition, only the gradient change is large, so that the vehicle frequently switches between multiple gradient sections, the energy recovery level of the same gradient section is used to adjust the energy recovery level by matching with the brake and the accelerator of the driver, for example, from the gradient section of-4 ° to-5 ° to the gradient section of-6 ° of the lane gradient, and then, when the vehicle is driven to the gradient section of-4 ° to-5 °, the called recovery level is the recovery level before the gradient section of-5 ° to-6 ° of the lane, and the called recovery level is adjusted according to the brake and the accelerator of the driver.
Specifically, the determining the first energy recovery level according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when the vehicle is in the target gradient interval in the historical driving process includes:
determining the first energy recovery level according to the collected energy consumed by a braking system and the energy added by a power system of the vehicle when the vehicle is in the target gradient interval last time;
or determining the first energy recovery level according to the collected energy consumed by the braking system and the energy added by the power system of the vehicle when at least one of the first N times of vehicles is in the target gradient interval.
The determination of the energy recovery level of the non-real-time adjustment can refer to steps S320 to S330, which are not repeated herein, but in the real-time adjustment scenario, since the real-time adjustment of the energy recovery level according to the energy consumed by the braking system and the energy added by the power system consumes more calculation power, the energy recovery is mostly started when the processor occupies less than 95%, so as to avoid that the energy recovery is stopped due to too much consumption of calculation power, and when the system performance is insufficient, the real-time adjustment of the recovery level is closed according to the last data of the vehicle; or the energy recovery level is determined according to the data of at least one of the previous N times of the vehicle, the energy level can be calculated when the processor is idle, the data is only required to be called when the vehicle enters the target gradient interval, the consumed calculation force is extremely small, and the energy recovery can be effectively prevented from being stopped, so that when the calculation performance is insufficient, the real-time adjustment is only required to be closed, and the energy recovery level obtained according to the historical data still accords with the driving habit of a driver.
Specifically, the energy recovery method further includes:
updating the energy recovery level of the target gradient interval stored by the vehicle according to the first energy recovery level;
it is easy to understand that the first energy recovery level is calculated according to the energy change condition, and since the storage of data such as the energy change condition occupies a larger space, and the calculation of the energy recovery level is more complex, and the data is calculated in the driving process, the calculated data is stored by updating the energy recovery level corresponding to the target gradient interval stored in the vehicle, so that the space for storing the energy change condition is reduced, the calculation process of reckoning when the energy recovery level of the target interval is called next time is avoided, the response speed is improved, and the calculation force consumption is reduced.
Or, the first energy recovery level is stored as a historical energy recovery level corresponding to the target gradient section, and the energy recovery level corresponding to the target gradient section is determined according to the historical energy recovery level corresponding to the target gradient section.
It should be noted that, this time of use of the energy recovery level cannot be considered to be more consistent with the driving habit of the driver than the previous time, and the same driver drives the same vehicle, and different requirements for the energy recovery level may be met depending on different environments, for example, there is a situation of following a vehicle or a situation outside a road is dangerous, and these external conditions may affect the requirement of the driver for the energy recovery level, even if the driver runs multiple times at the same energy recovery level, the driver may step on a brake or an accelerator to adjust the energy recovery level if the above environmental factors exist. Therefore, in this embodiment, the outlier caused by the above environmental conditions can be found out by saving the historical energy recovery level, and the statistical range can be deleted or excluded, and the energy recovery level is more consistent with the driving habit of the driver by calculating the median or average value of other data.
When entering a flat road from a downhill slope or going up a hill slope, the energy recovery is withdrawn or needs to be filtered when switching among different recovery levels, so that the drivability problem caused by too fast withdrawal is prevented, and the energy recovery level returns to the default energy recovery level of the flat road when withdrawing.
Specifically, the determining, according to the energy change data in the target gradient interval, a first energy recovery level corresponding to the target gradient interval includes:
determining the first energy recovery level according to at least one of a first energy adjustment value and a second energy adjustment value;
it is easy to understand that the first energy adjustment value is relatively independent from the second energy adjustment value, the first energy adjustment value is strongly related to the energy consumed by the braking system, when the braking system consumes energy, the driver is required to slow down, the energy recovery level can be determined to be lower at the moment, the energy recovery level can be properly improved, when the power system increases energy, the energy recovery level can be determined to be higher, the energy recovery level can be properly reduced, the driver can realize that the energy recovery level accords with the driving habit of the driver only by stepping on the brake or the accelerator once, however, in most of the real life situations, the driver does not need to determine how much recovery level needs to be reduced or improved, the recovery level accords with the habit needs to be finally determined by adjusting back and forth or slowly increasing or slowly decreasing, however, the energy recovery level can be adjusted by stepping on the brake or the accelerator for multiple times according to the energy recovery level of single brake or accelerator.
The first energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, the sliding moment of the vehicle and a braking factor of the vehicle;
the vehicle can acquire the parameters in real time during braking, and then the first energy adjustment value is calculated according to the parameters to adjust the energy recovery level, wherein the braking factor of the vehicle can be acquired according to the braking duration and the braking pressure, and also can be acquired according to the temperature change of the brake pad.
The second energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, a power moment of the vehicle and a power factor of the vehicle.
The vehicle can acquire the parameters when the driver steps on the accelerator, and then the second adjustment value is calculated according to the parameters to adjust the energy recovery level, wherein the power factor of the vehicle can be acquired through the opening degree of the accelerator and the duration time of the accelerator, and can also be acquired according to the power consumption.
According to the method, the technical scheme is perfected, the energy recovery efficiency is further improved, the driver is provided with real-time feedback, driving intuitiveness is met, driving experience of the driver is optimized, the stability of energy recovery is guaranteed through the exiting mechanism when CPU performance is insufficient, fine control of the energy recovery level is achieved through different use modes of historical data under different sample numbers, the energy recovery level is adjusted to be closer to driving habits of the driver under more scenes, brake and accelerator use is reduced, and self-adaptive adjustment of the energy recovery level is achieved on the premise that keys or virtual keys are not increased and active adjustment of the driver is not needed.
Referring to fig. 7, the present application further proposes an energy recovery device, and fig. 7 is a schematic structural diagram of the energy recovery device in a hardware operating environment according to an embodiment of the present application.
As shown in fig. 7, the energy recovery device installation and vehicle 700 may include: the processor 701, for example, a CPU, and the readable storage medium 702, the readable storage medium 702 may be a high-speed RAM memory or a stable memory (non-volatile memory), for example, a disk memory. The memory 702 may alternatively be a storage server separate from the aforementioned processor 701.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 is not limiting of the energy recovery device and may include more or fewer components than shown, or certain components in combination, or a different arrangement of components.
As shown in fig. 7, an operating system and an energy recovery program may be included in a memory 702 that is one type of computer storage medium.
In the energy recovery device shown in fig. 7, the processor 701 calls an energy recovery program in a readable storage medium 702 and performs the following operations:
determining that the vehicle is in a downhill working condition;
when a ramp where a vehicle is located in a target gradient interval, calling a first energy recovery grade corresponding to the target gradient interval to recover energy; the first energy recovery level is determined from historical energy change data for the vehicle while in the target grade interval.
Specifically, the determining that the vehicle is in a downhill condition includes at least one of:
the ramp angle of the lane where the vehicle is located meets the standard of a downhill lane, and the duration time of the vehicle in the downhill lane is larger than a first preset threshold value;
the speed of the vehicle is greater than a second preset threshold. The energy recovery device has the corresponding functions and beneficial effects of the energy recovery method, and is not described herein.
The application further proposes a computer program product, which has a computer readable medium, and the computer readable storage medium stores the energy recovery program as described above, and is configured to execute all steps of the energy recovery method when the program is executed on a computer or a digital signal processor, and the method has corresponding functions and beneficial effects of the energy recovery method, which are not described herein again.
The application further provides a vehicle, which comprises the energy recovery device or is applied to the energy recovery method, and has the corresponding functions and beneficial effects of the energy recovery method, and the detailed description is omitted herein.
Referring to fig. 8, the present embodiment also proposes an energy recovery device including:
A downhill condition determining unit 800 configured to determine that the vehicle is in a downhill condition;
the recovery level calling unit 810 is configured to call a first energy recovery level corresponding to a target gradient interval to perform energy recovery when a ramp in which a vehicle is located in the target gradient interval; the first energy recovery level is determined from historical energy change data for the vehicle while in the target grade interval.
Optionally, the downhill operating condition determining unit 800 determines that the vehicle is in a downhill operating condition, including at least one of:
the time for the vehicle to enter the target gradient interval is greater than a first preset threshold value;
the vehicle speed is greater than a second preset threshold.
Optionally, the first energy recovery level is determined according to the collected energy consumed by the braking system of the vehicle and the power system increased energy when the vehicle is in the target grade interval during the historical driving.
Optionally, the first energy recovery level is determined according to the energy consumed by the braking system of the vehicle and the energy added by the power system when the vehicle is in the target gradient interval last time;
or the first energy recovery level is determined according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when at least one of the first N times of the vehicle is in the target gradient interval.
Optionally, the first energy recovery level is determined from at least one of the first energy adjustment value and the second energy adjustment value;
the first energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, the sliding moment of the vehicle and a braking factor of the vehicle;
the second energy adjustment value is determined according to a first moment generated by a slope on which the vehicle is located, a second moment generated by the speed of the vehicle, a power moment of the vehicle and a power factor of the vehicle.
Optionally, the first energy adjustment value satisfies:
wherein DeltaT 1 To a heightened value, k 1 For the energy coefficient consumed by the braking system, the higher the energy consumed by the braking system is, the larger the energy coefficient is, mg is the gravity of the whole vehicle, θ is the degree of the ramp, R Radius of dynamic load Is the dynamic load radius of the vehicle, v is the current vehicle speed, A, B and C are the coefficients of the sliding resistance curve of the vehicle, T Sliding Is the coasting torque.
Optionally, the second energy adjustment value satisfies:
wherein DeltaT 2 To adjust down the value, k 2 The energy coefficient added for the power system is that the more the power system is added, the larger the energy coefficient is, mg is the gravity of the whole vehicle, theta is the degree of the ramp, R Radius of dynamic load The dynamic load radius of the vehicle is v, the current vehicle speed is v, A, B and C are coefficients of the sliding resistance curve of the vehicle, and a is the current acceleration.
Optionally, the energy recovery device may further include a monitoring unit and an energy recovery level determining unit;
the monitoring unit can be used for determining a target gradient interval of a ramp where the vehicle is located when the vehicle is in a downhill working condition and monitoring energy change data of the vehicle in the target gradient interval;
an energy recovery level determining unit for determining a first energy recovery level corresponding to the target gradient section according to the energy change data in the target gradient section; and the first energy recovery level is used for recovering energy according to the first energy recovery level when the vehicle is driven into the ramp corresponding to the target gradient interval.
Optionally, the vehicle is in a downhill condition, including at least one of:
the time for the vehicle to enter the target gradient interval is greater than a first preset threshold value;
the vehicle speed is greater than a second preset threshold.
Optionally, the energy recovery level determining unit may be further configured to determine the first energy recovery level according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when the vehicle is in the target gradient interval during the historical driving.
Optionally, the energy recovery level determining unit may be further configured to determine the first energy recovery level according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when the vehicle is in the target gradient interval last time;
optionally, the energy recovery level determining unit may be further configured to determine the first energy recovery level according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when at least one of the first N times of the vehicle is in the target grade interval.
Optionally, the apparatus may further include an energy recovery level updating unit configured to update the energy recovery level of the target grade section stored in the vehicle according to the first energy recovery level;
optionally, the energy recovery level updating unit may be further configured to store the first energy recovery level as a historical energy recovery level corresponding to the target gradient section, where the energy recovery level corresponding to the target gradient section is determined according to the historical energy recovery level corresponding to the target gradient section.
Optionally, the energy recovery level determining unit may be further configured to determine the first energy recovery level according to at least one of the first energy adjustment value and the second energy adjustment value;
The first energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, the sliding moment of the vehicle and a braking factor of the vehicle;
the second energy adjustment value is determined according to a first moment generated by a slope on which the vehicle is located, a second moment generated by the speed of the vehicle, a power moment of the vehicle and a power factor of the vehicle.
The energy recovery device has the corresponding functions and beneficial effects of the energy recovery method, and is not described herein.
Of course, the storage medium including the computer executable instructions provided in the embodiments of the present application is not limited to the operation of the energy recovery method described above, but may also perform the related operations in the energy recovery method provided in any embodiment of the present application, and has corresponding functions and beneficial effects.
From the above description of embodiments, it will be clear to a person skilled in the art that the present application may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, an energy recovery device, or a network device, etc.) to perform the energy recovery method described in the embodiments of the present application.
Claims (11)
1. An energy recovery method, comprising:
determining that the vehicle is in a downhill working condition;
when a ramp where a vehicle is located in a target gradient interval, calling a first energy recovery grade corresponding to the target gradient interval to recover energy; the first energy recovery level is determined from historical energy change data of the vehicle while in the target grade interval;
the first energy recovery level is determined according to the collected energy consumed by a braking system of the vehicle and the energy added by a power system when the vehicle is in a target gradient interval in the historical driving process;
the first energy recovery level is determined from at least one of a first energy adjustment value and a second energy adjustment value;
the first energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, the sliding moment of the vehicle and a braking factor of the vehicle;
the second energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, a power moment of the vehicle and a power factor of the vehicle;
the first energy adjustment value satisfies:
Wherein the DeltaT 1 To a heightened value, k 1 For the energy coefficient consumed by the braking system, the higher the energy consumed by the braking system is, the larger the energy coefficient is, mg is the gravity of the whole vehicle, θ is the degree of the ramp, R Radius of dynamic load Is the dynamic load radius of the vehicle, v is the current vehicle speed, A, B and C are the coefficients of the sliding resistance curve of the vehicle, T Sliding Is the coasting torque.
2. The energy recovery method of claim 1, wherein the determining that the vehicle is in a downhill operating condition comprises at least one of:
the time for the vehicle to enter the target gradient interval is greater than a first preset threshold value;
the speed of the vehicle is greater than a second preset threshold.
3. The energy recovery method according to claim 1, wherein the first energy recovery level is determined based on the energy consumed by the braking system of the vehicle and the energy added by the power system last time the vehicle was in the target grade interval;
or the first energy recovery level is determined according to the collected energy consumed by the braking system of the vehicle and the energy added by the power system when at least one of the first N times of the vehicle is in the target gradient interval.
4. The energy recovery method of claim 1, wherein the second energy adjustment value satisfies:
Wherein the DeltaT 2 To adjust down the value, k 2 The energy coefficient added for the power system is that the more the power system is added, the larger the energy coefficient is, mg is the gravity of the whole vehicle, theta is the degree of the ramp, R Radius of dynamic load The dynamic load radius of the vehicle is v, the current vehicle speed is v, A, B and C are coefficients of the sliding resistance curve of the vehicle, and a is the current acceleration.
5. An energy recovery method, comprising:
when the vehicle is in a downhill working condition, determining a target gradient section of a ramp where the vehicle is located, and monitoring energy change data of the vehicle in the target gradient section;
determining a first energy recovery level corresponding to the target gradient interval according to the energy change data in the target gradient interval; the first energy recovery level is used for carrying out energy recovery according to the first energy recovery level when the vehicle drives into the ramp corresponding to the target gradient interval;
the first energy recovery level is determined according to the collected energy consumed by a braking system of the vehicle and the energy added by a power system when the vehicle is in a target gradient interval in the historical driving process;
the first energy recovery level is determined from at least one of a first energy adjustment value and a second energy adjustment value;
The first energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, the sliding moment of the vehicle and a braking factor of the vehicle;
the second energy adjustment value is determined according to a first moment generated by a ramp where the vehicle is located, a second moment generated by the speed of the vehicle, a power moment of the vehicle and a power factor of the vehicle;
the first energy adjustment value satisfies:
wherein the DeltaT 1 To a heightened value, k 1 For the energy coefficient consumed by the braking system, the higher the energy consumed by the braking system is, the larger the energy coefficient is, mg is the gravity of the whole vehicle, θ is the degree of the ramp, R Radius of dynamic load Is the dynamic load radius of the vehicle, v is the current vehicle speed, A, B and C are the coefficients of the sliding resistance curve of the vehicle, T Sliding Is the coasting torque.
6. The energy recovery method of claim 5, wherein the vehicle is in a downhill operating condition, comprising at least one of:
the time for the vehicle to enter the target gradient interval is greater than a first preset threshold value;
the speed of the vehicle is greater than a second preset threshold.
7. The energy recovery method according to claim 5, wherein the determining the first energy recovery level based on the collected energy consumed by the braking system of the vehicle and the increased energy of the power system when the vehicle is in the target grade interval during the historic driving includes:
Determining the first energy recovery level according to the collected energy consumed by a braking system and the energy added by a power system of the vehicle when the vehicle is in the target gradient interval last time;
or determining the first energy recovery level according to the collected energy consumed by the braking system and the energy added by the power system of the vehicle when at least one of the first N times of vehicles is in the target gradient interval.
8. The energy recovery method according to any one of claims 5 or 7, further comprising:
updating the energy recovery level of the target gradient interval stored by the vehicle according to the first energy recovery level;
or, the first energy recovery level is stored as a historical energy recovery level corresponding to the target gradient section, and the energy recovery level corresponding to the target gradient section is determined according to the historical energy recovery level corresponding to the target gradient section.
9. An energy recovery device, characterized in that the energy recovery device comprises: a memory, a processor and an energy recovery program stored on the memory and executable on the processor, the energy recovery program when executed by the processor implementing the energy recovery method of any one of claims 1 to 8.
10. A vehicle characterized in that it comprises an energy recovery apparatus according to claim 9 or is applied to an energy recovery method according to any one of claims 1 to 8.
11. A readable storage medium, characterized in that the readable storage medium has stored thereon an energy recovery program, which when executed by a processor, implements the energy recovery method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111555168.5A CN114211970B (en) | 2021-12-17 | 2021-12-17 | Energy recovery method, energy recovery equipment, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111555168.5A CN114211970B (en) | 2021-12-17 | 2021-12-17 | Energy recovery method, energy recovery equipment, vehicle and storage medium |
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| CN110696791A (en) * | 2019-11-21 | 2020-01-17 | 安徽江淮汽车集团股份有限公司 | Electric vehicle energy recovery control method, device, equipment and storage medium |
| CN111469674A (en) * | 2020-05-06 | 2020-07-31 | 浙江吉利新能源商用车集团有限公司 | Braking energy recovery control method for new energy cargo vehicle |
| CN111791892A (en) * | 2020-06-29 | 2020-10-20 | 广州小鹏车联网科技有限公司 | Intelligent vehicle control method and device, vehicle and storage medium |
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| CN110696791A (en) * | 2019-11-21 | 2020-01-17 | 安徽江淮汽车集团股份有限公司 | Electric vehicle energy recovery control method, device, equipment and storage medium |
| CN111469674A (en) * | 2020-05-06 | 2020-07-31 | 浙江吉利新能源商用车集团有限公司 | Braking energy recovery control method for new energy cargo vehicle |
| CN111791892A (en) * | 2020-06-29 | 2020-10-20 | 广州小鹏车联网科技有限公司 | Intelligent vehicle control method and device, vehicle and storage medium |
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